WO2017036732A1 - Dispositif de connexion à un robot - Google Patents

Dispositif de connexion à un robot Download PDF

Info

Publication number
WO2017036732A1
WO2017036732A1 PCT/EP2016/068742 EP2016068742W WO2017036732A1 WO 2017036732 A1 WO2017036732 A1 WO 2017036732A1 EP 2016068742 W EP2016068742 W EP 2016068742W WO 2017036732 A1 WO2017036732 A1 WO 2017036732A1
Authority
WO
WIPO (PCT)
Prior art keywords
protective cover
sensor
interface
gripper
robot
Prior art date
Application number
PCT/EP2016/068742
Other languages
German (de)
English (en)
Inventor
Detlef Gerhard
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2017036732A1 publication Critical patent/WO2017036732A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • a device for connection to a robot According to VDI Guideline 2860 is at Industrierobo ⁇ tern to universal movement machine with several ⁇ ren axes whose movements are freely programmable sensor out and, if appropriate.
  • Such robots can be equipped with grippers and can perform handling or production tasks.
  • Such a gripper exchange adapter can be mounted as an adapter on a robot arm, whereby the robot arm can be equipped with different gripper modules.
  • human security must be guaranteed in cooperation with the robot. For example, it is known to live in the robot in a secure robot cell.
  • the present invention is intended to provide a device for connection to a robot, which provides an alternative to the prior art.
  • a device ge ⁇ triggers which has a gripper module or a gripper changing receptacle, which for receiving the
  • Gripper module is set up, wherein the gripper module is arranged to hold an object.
  • the device sits be ⁇ a mechanical interface, which is adapted for mechanical connection of the device to a robot.
  • the apparatus is characterized by at least one be ⁇ movably mounted protective cover, the protective cover allows in an open position grasping an object with the gripper module, and wherein the protective cover in egg ⁇ ner closed position, the gripper module and the object at least partially.
  • the device is further characterized by at least one drive, which is set up for moving the protective cover from the open to the closed position.
  • the device itself is the
  • Gripper module which itself has the mechanical interface.
  • the gripper module is permanently installed in the device, the latter has at least one further component which provides the mechanical interface ⁇ point.
  • the pre ⁇ direction is itself the gripper change receptacle in which the gripper module can be exchanged flexibly.
  • the gripper change recording is permanently installed in the device, the latter has at least one further component which ⁇ be riding, the mechanical interface.
  • the device allows encase the object with the least ei ⁇ NEN protective cover.
  • the protective cover is set up for this purpose, the object at least partially conveyorde ⁇ CKEN, and big enough to shield the object.
  • the at least one protective cover may be mounted on the gripper module itself, on the gripper interchangeable or on another component of the device.
  • the device provides an adapter which provides a safety gripper system with obj ekteinhausung for a secure human-robot interaction.
  • the at least one movably mounted protective cover protects the person in the closed position through the
  • Gripper module seized, sharp-edged objects, which could otherwise lead to injury to persons in the workspace. Thanks to the device therefore sharp-edged or pointed objects can be safely transported through the Robo ⁇ ter.
  • the device can, for example, for the connection of
  • Gripper modules to industrial robots such as delta robot or articulated arm robot can be used.
  • the device has the advantage that it can also be used for assembly ⁇ tasks.
  • the protective cover has the advantage that objects which are not securely held by the gripper module during a movement of the robot, for example due to centrifugal forces, and which can slide out of it, can be collected.
  • the device includes a first protective cover and a first pivot, via which the first protective cover is movably mounted. A first drive is arranged to move the first protective cover.
  • the device further includes a second protective cover and a second rotary joint, via which the second protective cover is movably mounted.
  • a second drive is arranged to move the second protective cover. Both protective covers completely enclose the gripper module and the gripped object in the closed position.
  • the device includes at least one first sensor, in particular an image sensor or a Infrared-dot sensor, which is in particular mounted on the first protective cover.
  • the first sensor can also be mounted on another component of the device. In this case, however, its viewing area is possibly restricted by the object or the first protective cover. If the first sensor is an image sensor, this can also be an infrared image sensor. Furthermore, the image sensor can be equipped with optics, whereby the first sensor is designed as a camera.
  • the device includes a second sensor, which is in particular an image sensor or an infrared point sensor, which is mounted on the second protective cover.
  • a second sensor which is in particular an image sensor or an infrared point sensor, which is mounted on the second protective cover.
  • first sensor and the second sensor are image sensors, these may be, for example, CCD sensors or CMOS sensors.
  • a temperature-point sensor is suitable as the infrared-point sensor.
  • the apparatus includes a third sensor which is an infrared sensor, and is adapted for monitoring a detection area, which is RESIZE ⁇ SSER as a detection range of the first sensor.
  • the third sensor is used to monitor a larger environment or larger distances.
  • the device includes a computing unit which is set up for evaluating signals of the first sensor, wherein in particular also signals of the second and / or third sensor are processed.
  • the computing unit is furthermore set up to detect an obstacle on the basis of the signal evaluation.
  • the corresponding device of the arithmetic unit exists in ⁇ example in a suitable programming.
  • the arithmetic unit is set up for signal evaluation during the movement of the first protective cover and for driving the first drive to interrupt or reverse the movement upon detection of the obstacle.
  • This development has the advantage that it is checked at Ver ⁇ close the protective cover if unexpected objects exist in closing direction. In this case, the closing process can be stopped and the protective cover may be reopened if necessary.
  • the apparatus includes an interface having a data interface, wel ⁇ surface is in particular designed as a field bus interface, particularly for a CAN bus or a Profibus, as SERI rush interface, in particular FireWire, Ethernet or as a Profinet Connection and / or as a WLAN adapter.
  • An advantage here is the design of the data interface ⁇ as a fieldbus interface, via which the device can be connected in addition to other field devices, sensors and actuators in an industrial plant with automation equipment.
  • the interface in addition a first connector component, which provides a control ⁇ interface with a plurality of contacts which are suitable for the transmission of control signals.
  • the interface has a second connector component which has an electrical connection
  • the interface additionally has a third connector component, which provides a pneumatic interface with connections for the supply and removal of compressed air.
  • the arithmetic unit is set up to output results of the signal evaluation via the data interface. This has the advantage that the information of the sensors in the device preprocessed and compressed can be forwarded to a Darü ⁇ overlying control.
  • the first sensor and the second sensor are image sensors.
  • the arithmetic unit is set up for evaluating signals of the first sensor and the second sensor, wherein the arithmetic unit is programmed to calculate 3D image information from 2D image information of the sensors and to output the 3D image information via the data interface, in particular compressed in the form of Vek ⁇ gates.
  • the at least one Schutzabde ⁇ ckung a flat design cover or grid-shaped cover, which is made in particular of metal pipes or plastic tubes.
  • the at least one Schutzabde ⁇ ckung is padded.
  • the Minim ⁇ least a protective cover equipped with a capacitive sensor system on its surface.
  • the robot arm is equipped with the device.
  • the robot is also equipped with the device.
  • Figure 1 shows an adapter for connecting a gripper module to a robot with an open protective cover
  • Figure 2 shows the adapter of Figure 1 with a closed
  • Figure 3 shows the adapter of Figure 2, which is installed on a robot arm.
  • FIG. 1 shows an adapter 1 for connecting a gripper module 2 to a robot.
  • the gripper module 2 engages with gripping ⁇ bake 3 an object 4.
  • the gripping jaws 3 may alternatively be a gripper fingers.
  • the gripper module 2 is permanently installed in a first variant in a component 9 of the adapter 1.
  • the component 9 to a gripper exchange receptacle into which can be used under ⁇ Kunststoffliche gripper modules. 2
  • the adapter 1 thus provides a gripping device base system with which, different gripper modules adapt las ⁇ sen.
  • the component 9 has a mechanical interface, which is set up for the mechanical connection of the adapter 1 to a robot.
  • the mechanical Thomasstel ⁇ le is suitable for mounting on a flange of a robot arm.
  • FIG. 1 shows the the protective covers 5, 6 in an open position in which the gripper jaws 3 of the gripper module 2, the object 4 he can grab ⁇ .
  • a first camera 51 is mounted, which consists for example of an optics and a CCD or CMOS image sensor.
  • the images of the two cameras 51, 61 can be used to assist the gripping of the object 4 by the gripper jaws 3.
  • the control of the gripper jaws 3 is carried out by the arithmetic unit 7 or a central controller.
  • the arithmetic unit 7 transmits the camera images or a compressed evaluation of the camera images via an interface 8 to the central controller.
  • the arithmetic unit 7 can continue from the twohabil ⁇ countries of the cameras 51, 61 by means of known image processing algorithms ⁇ , for example, edge and Obj ekterkennungsalgo- algorithms to calculate a three-dimensional image information.
  • the arithmetic unit 7 can be reduced to the three-dimensional image information vectors in this case, which are transmitted via the interface of the ⁇ le 8 to the central controller.
  • a first diameter di which is the outer diameter of the component 9, is for example 50 mm to 100 mm. However, completely different values for the first diameter di are possible, for example 10 mm or 20 cm to 50 cm.
  • a second diameter d2 of the entire adapter 1 with fully opened protective covers 5, 6 is approximately twice the first diameter di, for example 100 to 200 mm. Again, completely different dimensions can be realized, for example 20 mm or 40 cm to 100 cm.
  • the processing unit 7 is, for example, egg ⁇ NEN ARM processor or a DSP processor that is suitably programmed.
  • the cameras 51, 61 can process the rule for the Men ⁇ visible light spectrum, but also as home selected from infrared cameras. They may also, depending ⁇ wells a simple infrared point sensor, for example, be a temperature sensor point.
  • the protective covers 5, 6 are, as shown in Figure 1, made of metal or plastic tubes, in the cavities cables of the cameras 51, 61 can be performed. In another variant, as shown in Figure 1, the protective covers 5, 6 may be formed flat. In both variants, the protective covers may for example have a shape of an excavator bucket, a spherical segment, a half-shell or a visor. Figure 1 shows the variant that the two protective covers are designed in the form of visors.
  • the protective covers 5, 6 may be further upholstered on its outside. In addition, the surface of the protective covers 5, 6 may be equipped with a capacitive sensor. This has the advantage that touches with other machines or persons can be detected.
  • the interface 8 has to transmit the information of the arithmetic unit 7 to a data interface which in ⁇ play, a field bus interface, such as a CAN bus, or a Profibus, a serial port, game as examples FireWire, an Ethernet or Profinet-terminal and / or a wireless adapter.
  • a field bus interface such as a CAN bus, or a Profibus
  • a serial port such as a serial port
  • FireWire such as examples FireWire
  • Ethernet or Profinet-terminal an Ethernet or Profinet-terminal and / or a wireless adapter.
  • the interface additionally includes ei ⁇ ne first connector component, which provides a control cut parts with a plurality of contacts, which are suitable for the transmission of control signals from a central controller.
  • This is example ⁇ be a 25-pin connector.
  • the interface 8 can also have a second connector component, which provides an electrical interface for connection to a load supply.
  • the load supply is, for example, a 24 volt, 230 volt or 400 volt load supply.
  • the Interface to a third connector component, which provides a pneumatic interface with connections for the supply and discharge of compressed air.
  • the adapter provides the control signals, the electrical load ⁇ supply and the compressed air advantageously for the gripper module 2 ready.
  • the compressed air or the electrical energy to drive the drives 53, 63 are ⁇ sets, which are configured for example as electric motors or pneumatic cylinders.
  • the adapter 1 can have a further sensor, which is an infrared sensor and monitors a detection area which is substantially larger than the detection areas of the cameras 51, 61.
  • the protective covers 5, 6 are closed by means of the drives 53, 63 above the gripper module 2 and the object 4.
  • the computer unit 7 evaluates camera images of the cameras 51, 61 in order to detect an obstacle in the closing direction of the protective covers 5, 6. If such an obstacle is detected, the arithmetic unit 7 interrupts the drives 53, 63 or even retracts the protective covers 5, 6 even slightly.
  • the adapter 1 is provided with intelligence.
  • FIG. 2 shows the adapter 1 from FIG. 1 after the protective covers 5, 6 over the gripper module 2 and the gripped object 4 have completely closed.
  • the gripper module and the object 4 are at least partially covered.
  • the meshes of the grid-shaped protective covers 5, 6 are so narrow that the object 4 can not fall through the meshes during a movement of the adapter 1, unless it is held securely by the gripper jaws.
  • Figure 3 shows the adapter 1 in the closed position of Figure 2, which is mounted on a hinge 11 of a robot 10.
  • the robot 10 has two arm members 12, which are connected to each other via joints 11 and are mounted on a stand 13.
  • the robot 10 may proceed its arm members 12 at a high speed without hurting people through the optionally sharp-edged object. 4
  • sufficiently narrow meshes of the protective covers or by a flat design of the protective covers as closed half-shells can be further ensured that in robot operation, even at high accelerations or centrifugal forces no risks due to flying away of the object occur.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Selon l'invention, un adaptateur (1) permet d'obtenir un système de préhension de sécurité doté d'une enceinte d'objet pour une interaction homme-robot sûre. À cet effet, l'adaptateur (1) comprend deux éléments de recouvrement protecteurs (6), lesquels recouvrent au moins partiellement un objet saisi (4) et sont suffisament grands pour protéger l'objet (4). Le module de préhension (2) associé est, dans une première variante, monté fixement dans l'adaptateur (1) et peut, dans une deuxième variante, être remplacé de manière flexible au moyen d'un logement interchangeable de préhension. Les éléments de recouvrement protecteurs (5, 6) protègent les opérateurs dans la position fermée contre des objets (4) à arêtes acérées saisis par le module de préhension (2), lesquels objets pourraient autrement être à l'origine de blessures des personnes se trouvant dans l'espace de travail. Grâce au dispositif, des objets (4) pointus ou à arêtes acérées peuvent également être transportés de manière sûre par le robot. L'élément de recouvrement protecteur présente en outre l'avantage que des objets (4) qui, pendant un déplacement du robot, par exemple en raison de forces centrifuges, ne sont pas retenus de manière sûre par le module de préhension (2) et glissent hors de celui-ci, peuvent être recueillis.
PCT/EP2016/068742 2015-09-01 2016-08-05 Dispositif de connexion à un robot WO2017036732A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015216665.1A DE102015216665A1 (de) 2015-09-01 2015-09-01 Vorrichtung zur Anbindung an einen Roboter
DE102015216665.1 2015-09-01

Publications (1)

Publication Number Publication Date
WO2017036732A1 true WO2017036732A1 (fr) 2017-03-09

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Application Number Title Priority Date Filing Date
PCT/EP2016/068742 WO2017036732A1 (fr) 2015-09-01 2016-08-05 Dispositif de connexion à un robot

Country Status (2)

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DE (1) DE102015216665A1 (fr)
WO (1) WO2017036732A1 (fr)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP3418010A1 (fr) * 2017-06-23 2018-12-26 Comau S.p.A. Ensemble fonctionnel d'une machine industrielle, en particulier pour un robot, comprenant une unité fonctionnelle équipée d'un couvercle de sécurité
EP3578324A1 (fr) * 2018-06-05 2019-12-11 Sick AG Système de détecteurs pourvu de détecteurs de distance optoélectroniques
WO2023174557A1 (fr) * 2022-03-18 2023-09-21 Roundpeg Technologies Gmbh Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection

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DE102017106455B3 (de) * 2017-03-27 2018-09-20 Abb Schweiz Ag Endeffektor zur Werkstückbearbeitung und Robotersystem mit einem Endeffektor
EP3427904B1 (fr) * 2017-07-13 2020-06-10 Siemens Aktiengesellschaft Système comprenant un manipulateur et un dispositif de limitation d'un espace de travail
EP3661707B1 (fr) * 2017-08-04 2023-08-30 Compagnie Générale des Etablissements Michelin Dispositif effecteur comprenant un dispositif de protection déployable ou rétractable par flexion
DE102018122703A1 (de) * 2018-09-17 2020-03-19 E. Zoller Gmbh & Co. Kg Greifervorrichtung mit einer Schutzeinheit
HU231104B1 (hu) * 2018-10-11 2020-09-28 B & O Kft. Biztonsági burkolattal ellátott végeffektor szerkezet és eljárás a szerkezet alkalmazására

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DE102008004037A1 (de) * 2008-01-11 2009-07-23 Audi Ag Kollisionsschutz für einen optischen oder opto-elektronischen Sensor
DE102012217764A1 (de) * 2012-09-28 2014-06-12 Bayerische Motoren Werke Aktiengesellschaft Werkzeugschutzvorrichtung

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DE102008004037A1 (de) * 2008-01-11 2009-07-23 Audi Ag Kollisionsschutz für einen optischen oder opto-elektronischen Sensor
DE102012217764A1 (de) * 2012-09-28 2014-06-12 Bayerische Motoren Werke Aktiengesellschaft Werkzeugschutzvorrichtung

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3418010A1 (fr) * 2017-06-23 2018-12-26 Comau S.p.A. Ensemble fonctionnel d'une machine industrielle, en particulier pour un robot, comprenant une unité fonctionnelle équipée d'un couvercle de sécurité
CN109109000A (zh) * 2017-06-23 2019-01-01 康茂股份公司 包括配备有安全罩的操作单元的用于工业机器，具体是用于机器人的功能组件
US11065772B2 (en) 2017-06-23 2021-07-20 Coman S.p.A. Functional assembly for an industrial machine, in particular for a robot, including an operative unit equipped with a safety cover
EP3578324A1 (fr) * 2018-06-05 2019-12-11 Sick AG Système de détecteurs pourvu de détecteurs de distance optoélectroniques
WO2023174557A1 (fr) * 2022-03-18 2023-09-21 Roundpeg Technologies Gmbh Ensemble robot pour le traitement et/ou la manipulation d'une pièce, élément de protection pour un ensemble robot et ensemble de protection

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